function [desired_state] = traj_line(t, ~)

t_max = 4;
t = max(0, min(t, t_max));
t = t/t_max;

pos = 10*t.^3 - 15*t.^4 + 6*t.^5;
vel = (30/t_max)*t.^2 - (60/t_max)*t.^3 + (30/t_max)*t.^4;
acc = (60/t_max^2)*t - (180/t_max^2)*t.^2 + (120/t_max^2)*t.^3;

% output desired state
desired_state.pos = [pos; pos; pos];
desired_state.vel = [vel; vel; vel];
desired_state.acc = [acc; acc; acc];
desired_state.yaw = pos;
desired_state.yawdot = vel;

end
